How to add a pallet after a few layers

Context

We have seen cases where the customer wants to create stacked pallets using the palletizer. 

The sequence could go as follows : 

1. An empty pallet is placed on either side of the palletizer. 
2. 3 or 4 layers of boxes are stacked.
3. The program pauses. 
4. The operator places an empty pallet on top of the stack. 
5. The operator validates the task is done by pressing a button, outside of the work zone.
6. Palletizing restarts. The palletizer offsets the release height to compensate for the pallet presence. 

Knowledge

Here is a template showing how to manage such scenario using the rq_set_pallet_height() script command. 

Line 20 : Program waits for the operator to press the confirmation button to proceed.

The minimal and maximal pallet height must be set using the palletizing node "Variable height" feature :